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rtabmap: refining neighbor links uses computeIcpTransform() instead of computeTransform() (to ignore Visual registration, which adds more errors most of the time). When database is in RAM, we can close under a different name than the one used when the database was loaded.

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Tango: Added Append Mode option (only start a new map after being localized, default true) and the old map is still shown for convenience until localization. Increased minInliers to 25. Increased ICP correspondenceRatio to 0.5. Decreased time to open a database. Saving doesn't close the database anymore and overwrite only if we save with the same name. Removed ICP refining from standard optimization.
This commit is contained in:
matlabbe
2016-11-21 17:09:04 -05:00
parent 4c559a3191
commit 14908e3a11
19 changed files with 380 additions and 296 deletions
Download Patch File Download Diff File Expand all files Collapse all files
app/android/src/com/introlab/rtabmap/RTABMapActivity.java
+202 -184
View File
@@ -87,7 +87,6 @@ public class RTABMapActivity extends Activity implements OnClickListener {
private String mOpenedDatabasePath = "";
private String mTempDatabasePath = "";
private String mNewDatabasePath = "";
private String mWorkingDirectory = "";
private int mMaxDepthIndex = 5;
@@ -179,7 +178,6 @@ public class RTABMapActivity extends Activity implements OnClickListener {
mOpenedDatabasePath = "";
mTempDatabasePath = "";
mNewDatabasePath = "";
mWorkingDirectory = "";
mTotalLoopClosures = 0;
@@ -436,108 +434,6 @@ public class RTABMapActivity extends Activity implements OnClickListener {
((TextView)findViewById(R.id.status)).setText(
status == 1 && msg.isEmpty()?mItemPause!=null&&mItemPause.isChecked()?"Paused":mItemLocalizationMode!=null&&mItemLocalizationMode.isChecked()?"Localization":"Mapping":msg);
/*0=kInitializing,
1=kInitialized,
2=kClosing,
3=kClosed,
4=kInfo,
5=kError*/
if(status == 3)
{
msg = "";
if(!mNewDatabasePath.isEmpty())
{
boolean removed = true;
File outputFile = new File(mNewDatabasePath);
if(outputFile.exists())
{
removed = outputFile.delete();
}
if(removed)
{
File tempFile = new File(mTempDatabasePath);
if(tempFile.renameTo(outputFile))
{
msg = String.format("Database saved to \"%s\". Tip: You can open a saved database with \"Open\".", mNewDatabasePath);
Intent intent = new Intent(this, RTABMapActivity.class);
// use System.currentTimeMillis() to have a unique ID for the pending intent
PendingIntent pIntent = PendingIntent.getActivity(this, (int) System.currentTimeMillis(), intent, 0);
// build notification
// the addAction re-use the same intent to keep the example short
Notification n = new Notification.Builder(this)
.setContentTitle(getString(R.string.app_name))
.setContentText(mNewDatabasePath + " saved!")
.setSmallIcon(R.drawable.ic_launcher)
.setContentIntent(pIntent)
.setAutoCancel(true).build();
NotificationManager notificationManager =
(NotificationManager) getSystemService(NOTIFICATION_SERVICE);
notificationManager.notify(0, n);
}
else
{
msg = String.format("Failed to rename temporary database from \"%s\" to \"%s\".",
mTempDatabasePath, mNewDatabasePath);
}
}
else
{
msg = String.format("Failed to overwrite the database \"%s\". The temporary database is still correctly saved at \"%s\".",
mNewDatabasePath, mTempDatabasePath);
}
}
else if(!mOpenedDatabasePath.isEmpty())
{
msg = String.format("Database \"%s\" updated.", mOpenedDatabasePath);
}
if(!msg.isEmpty())
{
mToast.makeText(this, msg, mToast.LENGTH_LONG).show();
}
mOpenedDatabasePath = "";
mNewDatabasePath = "";
//restart a new scan by default
RTABMapLib.openDatabase(mTempDatabasePath);
((TextView)findViewById(R.id.points)).setText(String.valueOf(0));
((TextView)findViewById(R.id.polygons)).setText(String.valueOf(0));
((TextView)findViewById(R.id.nodes)).setText(String.valueOf(0));
((TextView)findViewById(R.id.words)).setText(String.valueOf(0));
((TextView)findViewById(R.id.memory)).setText(String.valueOf(Debug.getNativeHeapAllocatedSize()/(1024*1024)));
((TextView)findViewById(R.id.db_size)).setText(String.valueOf(0));
((TextView)findViewById(R.id.inliers)).setText(String.valueOf(0));
((TextView)findViewById(R.id.features)).setText(String.valueOf(0));
((TextView)findViewById(R.id.update_time)).setText(String.valueOf(0));
((TextView)findViewById(R.id.hypothesis)).setText(String.valueOf(0));
((TextView)findViewById(R.id.fps)).setText(String.valueOf(0));
mTotalLoopClosures = 0;
((TextView)findViewById(R.id.total_loop)).setText(String.valueOf(mTotalLoopClosures));
if(mItemSave!=null)
{
if(mItemPause.isChecked())
{
mItemPause.setChecked(false);
mItemOpen.setEnabled(false);
mItemPostProcessing.setEnabled(false);
mItemSave.setEnabled(false);
mItemExport.setEnabled(false);
mItemDataRecorderMode.setEnabled(false);
RTABMapLib.setPausedMapping(false); // resume mapping
}
}
mProgressDialog.dismiss();
}
}
//called from jni
@@ -938,6 +834,11 @@ public class RTABMapActivity extends Activity implements OnClickListener {
item.setChecked(!item.isChecked());
RTABMapLib.setFullResolution(item.isChecked());
}
else if(itemId == R.id.append)
{
item.setChecked(!item.isChecked());
RTABMapLib.setAppendMode(item.isChecked());
}
else if(itemId == R.id.max_depth)
{
// get double
@@ -1102,90 +1003,161 @@ public class RTABMapActivity extends Activity implements OnClickListener {
}
else if (itemId == R.id.save)
{
if(mOpenedDatabasePath.isEmpty())
{
AlertDialog.Builder builder = new AlertDialog.Builder(this);
builder.setTitle("RTAB-Map Database Name (*.db):");
final EditText input = new EditText(this);
input.setInputType(InputType.TYPE_CLASS_TEXT);
AlertDialog.Builder builder = new AlertDialog.Builder(this);
builder.setTitle("RTAB-Map Database Name (*.db):");
final EditText input = new EditText(this);
input.setInputType(InputType.TYPE_CLASS_TEXT);
if(mOpenedDatabasePath.isEmpty())
{
String timeStamp = new SimpleDateFormat("yyMMdd-hhmmss").format(new Date());
input.setText(timeStamp);
input.setSelectAllOnFocus(true);
input.selectAll();
builder.setView(input);
builder.setPositiveButton("OK", new DialogInterface.OnClickListener() {
@Override
public void onClick(DialogInterface dialog, int which)
}
else
{
File f = new File(mOpenedDatabasePath);
String name = f.getName();
input.setText(name.substring(0,name.lastIndexOf(".")));
}
input.setSelectAllOnFocus(true);
input.selectAll();
builder.setView(input);
builder.setPositiveButton("OK", new DialogInterface.OnClickListener() {
@Override
public void onClick(DialogInterface dialog, int which)
{
final String fileName = input.getText().toString();
dialog.dismiss();
if(!fileName.isEmpty())
{
final String fileName = input.getText().toString();
dialog.dismiss();
if(!fileName.isEmpty())
File newFile = new File(mWorkingDirectory + fileName + ".db");
if(newFile.exists())
{
File newFile = new File(mWorkingDirectory + fileName + ".db");
if(newFile.exists())
{
new AlertDialog.Builder(getActivity())
.setTitle("File Already Exists")
.setMessage("Do you want to overwrite the existing file?")
.setPositiveButton("Yes", new DialogInterface.OnClickListener() {
public void onClick(DialogInterface dialog, int which) {
mNewDatabasePath = mWorkingDirectory + fileName + ".db";
mProgressDialog.setTitle("Saving");
mProgressDialog.setMessage(String.format("Please wait while saving \"%s\"...", mNewDatabasePath));
mProgressDialog.show();
RTABMapLib.save(); // send save event
//disable gui actions
mItemSave.setEnabled(false);
mItemOpen.setEnabled(false);
mItemPostProcessing.setEnabled(false);
mItemExport.setEnabled(false);
mItemDataRecorderMode.setEnabled(false);
}
})
.setNegativeButton("No", new DialogInterface.OnClickListener() {
public void onClick(DialogInterface dialog, int which) {
dialog.dismiss();
}
})
.show();
}
else
{
mNewDatabasePath = mWorkingDirectory + fileName + ".db";
mProgressDialog.setTitle("Saving");
mProgressDialog.setMessage(String.format("Please wait while saving \"%s\"...", mNewDatabasePath));
mProgressDialog.show();
RTABMapLib.save(); // send save event
//disable gui actions
mItemSave.setEnabled(false);
mItemOpen.setEnabled(false);
mItemPostProcessing.setEnabled(false);
mItemExport.setEnabled(false);
mItemDataRecorderMode.setEnabled(false);
}
new AlertDialog.Builder(getActivity())
.setTitle("File Already Exists")
.setMessage("Do you want to overwrite the existing file?")
.setPositiveButton("Yes", new DialogInterface.OnClickListener() {
public void onClick(DialogInterface dialog, int which) {
final String newDatabasePath = mWorkingDirectory + fileName + ".db";
mProgressDialog.setTitle("Saving");
if(mOpenedDatabasePath.equals(newDatabasePath))
{
mProgressDialog.setMessage(String.format("Please wait while updating \"%s\"...", newDatabasePath));
}
else
{
mProgressDialog.setMessage(String.format("Please wait while saving \"%s\"...", newDatabasePath));
}
mProgressDialog.show();
Thread saveThread = new Thread(new Runnable() {
public void run() {
RTABMapLib.save(newDatabasePath); // save
runOnUiThread(new Runnable() {
public void run() {
if(mOpenedDatabasePath.equals(newDatabasePath))
{
mToast.makeText(getActivity(), String.format("Database \"%s\" updated.", newDatabasePath), mToast.LENGTH_LONG).show();
}
else
{
mToast.makeText(getActivity(), String.format("Database saved to \"%s\".", newDatabasePath), mToast.LENGTH_LONG).show();
Intent intent = new Intent(getActivity(), RTABMapActivity.class);
// use System.currentTimeMillis() to have a unique ID for the pending intent
PendingIntent pIntent = PendingIntent.getActivity(getActivity(), (int) System.currentTimeMillis(), intent, 0);
// build notification
// the addAction re-use the same intent to keep the example short
Notification n = new Notification.Builder(getActivity())
.setContentTitle(getString(R.string.app_name))
.setContentText(newDatabasePath + " saved!")
.setSmallIcon(R.drawable.ic_launcher)
.setContentIntent(pIntent)
.setAutoCancel(true).build();
NotificationManager notificationManager =
(NotificationManager) getSystemService(NOTIFICATION_SERVICE);
notificationManager.notify(0, n);
}
mProgressDialog.dismiss();
}
});
}
});
saveThread.start();
mOpenedDatabasePath = newDatabasePath;
}
})
.setNegativeButton("No", new DialogInterface.OnClickListener() {
public void onClick(DialogInterface dialog, int which) {
dialog.dismiss();
}
})
.show();
}
else
{
final String newDatabasePath = mWorkingDirectory + fileName + ".db";
mProgressDialog.setTitle("Saving");
if(mOpenedDatabasePath.equals(newDatabasePath))
{
mProgressDialog.setMessage(String.format("Please wait while updating \"%s\"...", mOpenedDatabasePath));
}
else
{
mProgressDialog.setMessage(String.format("Please wait while saving \"%s\"...", newDatabasePath));
}
mProgressDialog.show();
Thread saveThread = new Thread(new Runnable() {
public void run() {
RTABMapLib.save(newDatabasePath); // save
runOnUiThread(new Runnable() {
public void run() {
if(mOpenedDatabasePath.equals(newDatabasePath))
{
mToast.makeText(getActivity(), String.format("Database \"%s\" updated.", newDatabasePath), mToast.LENGTH_LONG).show();
}
else
{
mToast.makeText(getActivity(), String.format("Database saved to \"%s\".", newDatabasePath), mToast.LENGTH_LONG).show();
Intent intent = new Intent(getActivity(), RTABMapActivity.class);
// use System.currentTimeMillis() to have a unique ID for the pending intent
PendingIntent pIntent = PendingIntent.getActivity(getActivity(), (int) System.currentTimeMillis(), intent, 0);
// build notification
// the addAction re-use the same intent to keep the example short
Notification n = new Notification.Builder(getActivity())
.setContentTitle(getString(R.string.app_name))
.setContentText(newDatabasePath + " saved!")
.setSmallIcon(R.drawable.ic_launcher)
.setContentIntent(pIntent)
.setAutoCancel(true).build();
NotificationManager notificationManager =
(NotificationManager) getSystemService(NOTIFICATION_SERVICE);
notificationManager.notify(0, n);
}
mProgressDialog.dismiss();
}
});
}
});
saveThread.start();
mOpenedDatabasePath = newDatabasePath;
}
}
});
builder.show();
}
else
{
mProgressDialog.setTitle("Saving");
mProgressDialog.setMessage(String.format("Please wait while updating \"%s\"...", mOpenedDatabasePath));
mProgressDialog.show();
RTABMapLib.save(); // send save event
//disable gui actions
mItemSave.setEnabled(false);
mItemOpen.setEnabled(false);
mItemPostProcessing.setEnabled(false);
mItemExport.setEnabled(false);
mItemDataRecorderMode.setEnabled(false);
}
}
});
builder.show();
}
else if(itemId == R.id.reset)
{
@@ -1276,8 +1248,17 @@ public class RTABMapActivity extends Activity implements OnClickListener {
final EditText input = new EditText(this);
input.setInputType(InputType.TYPE_CLASS_TEXT);
builder.setView(input);
String timeStamp = new SimpleDateFormat("yyMMdd-hhmmss").format(new Date());
input.setText(timeStamp);
if(mOpenedDatabasePath.isEmpty())
{
String timeStamp = new SimpleDateFormat("yyMMdd-hhmmss").format(new Date());
input.setText(timeStamp);
}
else
{
File f = new File(mOpenedDatabasePath);
String name = f.getName();
input.setText(name.substring(0,name.lastIndexOf(".")));
}
input.setSelectAllOnFocus(true);
input.selectAll();
builder.setPositiveButton("OK", new DialogInterface.OnClickListener() {
@@ -1333,6 +1314,24 @@ public class RTABMapActivity extends Activity implements OnClickListener {
{
mToast.makeText(getActivity(), String.format("Mesh \"%s\" successfully exported!", path), mToast.LENGTH_LONG).show();
}
Intent intent = new Intent(getActivity(), RTABMapActivity.class);
// use System.currentTimeMillis() to have a unique ID for the pending intent
PendingIntent pIntent = PendingIntent.getActivity(getActivity(), (int) System.currentTimeMillis(), intent, 0);
// build notification
// the addAction re-use the same intent to keep the example short
Notification n = new Notification.Builder(getActivity())
.setContentTitle(getString(R.string.app_name))
.setContentText(path + " exported!")
.setSmallIcon(R.drawable.ic_launcher)
.setContentIntent(pIntent)
.setAutoCancel(true).build();
NotificationManager notificationManager =
(NotificationManager) getSystemService(NOTIFICATION_SERVICE);
notificationManager.notify(0, n);
}
else
{
@@ -1376,6 +1375,25 @@ public class RTABMapActivity extends Activity implements OnClickListener {
{
mToast.makeText(getActivity(), String.format("Mesh \"%s\" successfully exported!", path), mToast.LENGTH_LONG).show();
}
Intent intent = new Intent(getActivity(), RTABMapActivity.class);
// use System.currentTimeMillis() to have a unique ID for the pending intent
PendingIntent pIntent = PendingIntent.getActivity(getActivity(), (int) System.currentTimeMillis(), intent, 0);
// build notification
// the addAction re-use the same intent to keep the example short
Notification n = new Notification.Builder(getActivity())
.setContentTitle(getString(R.string.app_name))
.setContentText(path + " exported!")
.setSmallIcon(R.drawable.ic_launcher)
.setContentIntent(pIntent)
.setAutoCancel(true).build();
NotificationManager notificationManager =
(NotificationManager) getSystemService(NOTIFICATION_SERVICE);
notificationManager.notify(0, n);
}
else
{